A Survey on Robot Systems for High-rise Building Wall Maintenance

Moon, Sungmin; Huh, Jaemyung; Lee, Seung‐Hoon; Kang, Sung-Myung; Han, Chang-Soo; Hong, Daehie

doi:10.7736/kspe.2013.30.4.359

Cited by 10 publications

(3 citation statements)

References 35 publications

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“…The issue of economical viability changes, if one imagines a supervised, multi-robot system, where the human can assist remotely in difficult tasks, or take control in hazardous situations. Such a system could be used for a variety of tasks where people might be exposed to unnecessary danger, e.g., search and rescue in underground environments (Rouček et al, 2019;Petrlík et al, 2020), clearing areas of toxic or radioactive debris (Amjadi et al, 2019;Nawaz et al, 2009), or tall building construction and maintenance (Moon et al, 2013). However, multi-robot systems capable of reliable mobile manipulation are even more complex and their design and implementation require solving numerous engineering challenges.…”

Section: Introductionmentioning

confidence: 99%

Towards new frontiers in mobile manipulation: Team CTU-UPenn-NYU at MBZIRC 2020

Štibinger¹,

Broughton²,

Majer³

et al. 2022

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In this paper we present an autonomous robotic system for picking, transporting, and precisely placing magnetically graspable objects. Such a system would be especially beneficial for construction tasks where human presence is not possible, e.g. due to chemical or radioactive pollution. The system comprises of two primary components – a wheeled, mobile platform and a manipulator arm. Both are interconnected through an onboard computer and utilize various onboard sensors for estimating the state of the robot and its surroundings. By using efficient processing algorithms, data from the onboard sensors can be used in a feedback loop during all critical operational sections, resulting in a robust system capable of operating on uneven terrain and in environments without access to satellite navigation. System functionality has been proven in Challenge II of the MBZIRC 2020 competition. The Challenge required a ground robot to build an L-shaped structure of colored bricks laid in a predefined pattern. Such a mission incorporates several demanding subchallenges, spanning multiple branches of computer science, cybernetics, and robotics. Moreover, all the subchallenges had to be performed flawlessly in rapid succession, in order to complete the Challenge successfully. The extreme difficulty of the task was highlighted in the MBZIRC 2020 finals, where our system was among the only two competitors (out of 32) that managed to complete the task in autonomous mode.

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Section: Introductionmentioning

confidence: 99%

Towards new frontiers in mobile manipulation: Team CTU-UPenn-NYU at MBZIRC 2020

Štibinger¹,

Broughton²,

Majer³

et al. 2022

View full text Add to dashboard Cite

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“…The economical aspects may be offset by considering environments, which are potentially hazardous for humans. These include search and rescue operations in underground environments [6], [7], clearing areas of toxic or radioactive debris [8], [9], high-rise building maintenance [10] or power line inspection [11], [12].…”

Section: Introductionmentioning

confidence: 99%

Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment

Stibinger¹,

Broughton²,

Majer³

et al. 2020

Preprint

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Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is capable of autonomous localization, grasping, transportation and deployment of construction material in a semi-structured environment. Special effort was put into making the system invariant to lighting changes, and not reliant on external positioning systems. Therefore, the presented system is self-contained and capable of operating in outdoor and indoor conditions alike. Finally, we present means to extend the perceptive radius of the vehicle by using it in cooperation with an autonomous drone, which provides aerial reconnaissance. Performance of the proposed system has been evaluated in a series of experiments conducted in real-world conditions.

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“…To address the aforementioned demand, many studies on the automation of the building maintenance unit (BMU) and the related robots have been conducted in Europe, Japan, and the U.S [4].…”

Section: Introductionmentioning

confidence: 99%

The Study on the Integrated Control System for Curtain Wall Building Cleaning Robot

Gil¹,

Kim²,

Lee³

et al. 2016

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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-The industry's interest in building façade maintenance is rising with the growing number of new high-rise buildings in the metropolises. The conventional method of cleaning the façade of highrise buildings relies on the use of ropes, gondolas, and the winch system involving human labor. Recently the building maintenance unit (BMU) has been developed and has been applied to building maintenance to prevent safety accidents and to ensure high work efficiency. Diverse robot systems are being applied to building maintenance globally, including in Germany, the United States, and France. In South Korea, the built-in guided robot system was developed. This paper deals with an integrated control system of builtin guided robot system to ensure consistent and stable control. This control system is considered its unique characteristics as a building façade cleaning work. The integrated control system proposed in this paper performs cleaning work in three steps: preparation, cleaning, and return to the initial position, with each module consisting of the robot system performing its task sequentially and independently at each step. In addition, the robot system makes up a network composed mainly of VMR to ensure smooth and stable communication among the different modules. The integrated control system proposed in this paper was applied to the built-in guided robot system for performance verification.

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A Survey on Robot Systems for High-rise Building Wall Maintenance

Cited by 10 publications

References 35 publications

Towards new frontiers in mobile manipulation: Team CTU-UPenn-NYU at MBZIRC 2020

Towards new frontiers in mobile manipulation: Team CTU-UPenn-NYU at MBZIRC 2020

Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment

The Study on the Integrated Control System for Curtain Wall Building Cleaning Robot

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